DetectionNetwork.hpp

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#pragma once
 
#include <depthai/pipeline/Node.hpp>
#include <depthai/pipeline/node/NeuralNetwork.hpp>
 
#include "depthai/openvino/OpenVINO.hpp"
 
// standard
#include <fstream>
 
// shared
#include <depthai-shared/properties/DetectionNetworkProperties.hpp>
 
namespace dai {
namespace node {
 
class DetectionNetwork : public NodeCRTP<NeuralNetwork, DetectionNetwork, DetectionNetworkProperties> {
   public:
    constexpr static const char* NAME = "DetectionNetwork";
 
   protected:
    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    DetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
   public:
    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgDetections, false}}};
 
    Output outNetwork{*this, "outNetwork", Output::Type::MSender, {{DatatypeEnum::NNData, false}}};
 
    void setConfidenceThreshold(float thresh);
 
    float getConfidenceThreshold() const;
};
 
class MobileNetDetectionNetwork : public NodeCRTP<DetectionNetwork, MobileNetDetectionNetwork, DetectionNetworkProperties> {
   public:
    MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    MobileNetDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
};
 
class YoloDetectionNetwork : public NodeCRTP<DetectionNetwork, YoloDetectionNetwork, DetectionNetworkProperties> {
   public:
    YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    YoloDetectionNetwork(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    void setNumClasses(int numClasses);
    void setCoordinateSize(int coordinates);
    void setAnchors(std::vector<float> anchors);
    void setAnchorMasks(std::map<std::string, std::vector<int>> anchorMasks);
    void setIouThreshold(float thresh);
 
    int getNumClasses() const;
    int getCoordinateSize() const;
    std::vector<float> getAnchors() const;
    std::map<std::string, std::vector<int>> getAnchorMasks() const;
    float getIouThreshold() const;
};
 
}  // namespace node
}  // namespace dai